Example updates for release 0.0.95

examples/RaceTrack/RaceTrackRobotsV2/Config.h

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+// Choose your Motor Driver...
+// To load default settings for either an Ardumoto version 14 or 20, or an Adafruit v2.3,
+// uncomment only the following motor driver define that matches.
+// If none are uncommented, Ardumoto v14 values will be used.
+//
+// DO NOT UNCOMMENT MORE THAN ONE
+//#define ARDUMOTO_14
+//#define ARDUMOTO_20
+//#define ADAFRUIT_MS
+
+// choose your lane with either 'R' for right or 'L' for left
+#define LANE_CHOICE 'R'
+
+// What voltage is your battery (whole numbers only)
+#define BATTERY_VOLTS 9
+
+// **** comment out define LEFT_LANE if using right lane
+//#define LEFT_LANE
+
+// If you will use an IO pin to power the IR receiver +5v
+//   then declare the define to the pin number.
+//   Otherwise, comment it at out.
+// This is a shortcut for low mAmp power where you may have available IO pins and
+// where the +5v pin is already used and you do not have a breadboard or splitter on hand.
+#define IR_POWER_PIN A0  // comment out to disable
+
+#define RECV_PIN A1 // pin your IR receiver is using
+
+#define PIEZO_PIN A2  // piezo beeper/sensor pin
+
+#define CALIBRATE_SPEED 0 // speed 0-100 for line follow calibration mode. 0 uses default values.
+
+const int min_speed = -35; //  speed -100 to 100 for line follow motor speed PID. -100 is the default, but
+                           //  a little higher might work better here
+
+const int max_speed = 100; //  speed -100 to 100 for line follow motor speed PID. 100 is the default. 
+
+#define FOLLOWLINE_MODE 1 // set followLine mode 0,1,2,3.  1 or 2 are probably best use here.
+
+// set these values ONLY if using battery monitoring
+// to disable, comment out the define ANALOG_DIVIDER_PIN
+//#define ANALOG_DIVIDER_PIN A5 // analog pin your voltage divider is connected
+#define CUTOFF 9 // cut off voltage... for example, for a 3 cell lithium, set at 3.0v x 3 cells = 9 
+#define SMALL_RES_KOHMS 33 // K ohm value of your small resistor in the divider
+#define LARGE_RES_KOHMS 100 // K ohm value of your small resistor in the divider
+
+

examples/RaceTrack/RaceTrackRobotsV2/IRcodes.h

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+// IR command values are unique to this setup.  
+//   While these are currently sent and received in the  NEC format of IR is used for now, 
+//   it may be best to switch to a shorter/smaller bit value code for faster communication.
+
+//#ifdef LEFT_LANE
+#if (LANE_CHOICE == 'L')
+  // Left lane IR commands
+  #define STOP 0x2BB27000
+  #define BACKUP 0x2BB27002
+  #define BUMP_IN 0x2BB27003
+#else   
+  // Right lane IR commands
+  #define STOP 0x2BB28000
+  #define BACKUP 0x2BB28002
+  #define BUMP_IN 0x2BB28003
+#endif
+
+// Common IR commands
+#define GO_RACE 0x2BB26001
+#define ALL_STOP 0x2BB29999

examples/RaceTrack/RaceTrackRobotsV2/RaceTrackRobotsV2.ino

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+/* 10/25/2018
+
+  This program is intended for the Gobbit robot with a line sensor and infrared receiver to be used
+  on a lined course with either a scoreboard start/finish line or simple IR remote control for both
+  staging robots at the start line, telling them when to start, and when to stop.
+
+    NOTE: The wiring of the Gobbit here matches the wiring used in the ScoutBotics Level 2 IRcontrol example.
+
+          SEE Config.h TAB TO CONFIRM SETTINGS AND LANE BEFORE UPLOADING
+
+          SEE IRcodes.h if you need to change the working IR command codes
+
+  If a scoreboard is not used with the RaceTrackScoreBoard program, then change the IR codes to match 
+  those on an IR remote, such as a tv or cable remote.
+  
+  "IRremote" library is also needed.
+
+  For GobbitLineCommand function definitions, see the GobbitLineCommand "GLC_Functions" example sketch.
+
+  ** Further documentation is not currently available. **
+    
+  It may be better to revise and use a shorter IR code format for improved speed and timing.
+  
+*/
+
+#include "Config.h"
+#include "IRcodes.h"
+
+#include <IRremote.h>
+IRrecv irrecv(RECV_PIN);
+decode_results results;
+
+#include <GobbitLineCommand.h>
+GobbitLineCommand MyBot;
+
+int go = -1;
+byte moving = 0;
+void setup() {
+
+  // most of the setup notes and calls are specifically for the Gobbit robot with other possible configurations in mind, and the GobbitLineCommand library usage
+
+  MyBot.setMinMaxSpeeds(min_speed, max_speed);
+
+  // If IR_POWER_PIN was defined, this will set the pin to power the IR receiver,
+#ifdef IR_POWER_PIN
+  pinMode(IR_POWER_PIN, OUTPUT);
+  digitalWrite(IR_POWER_PIN, HIGH);
+#endif
+
+  // ArduMoto v14
+#ifdef ARDUMOTO_14
+  MyBot.setQTRpins(2, 4, 5, 6, 7, 8, A3, A4); // **
+  MyBot.setLeftMotorPinsDirPWM(12, 9);  // on ardumoto v14, these were 12,3; use a jumper from 3 to 9
+  MyBot.setRightMotorPinsDirPWM(13, 10);  // on ardumoto v14, these were 13,11; use a jumper from 11 to 10
+#endif
+
+  // ArduMoto v20
+#ifdef ARDUMOTO_20
+  MyBot.setQTRpins(5, 6, 7, 8, 12, 13, A3, A4); // **
+  MyBot.setLeftMotorPinsDirPWM(4, 10);  // on ardumoto v20, these were 4,11; use a jumper from 11 to 10
+  MyBot.setRightMotorPinsDirPWM(2, 9);  // on ardumoto v20, these were 2,3; use a jumper from 3 to 9
+#endif
+
+#if (BATTERY_VOLTS < 10)
+  // use these for 9v, not above
+  // PID tunes here vary from the default due to pin changes and larger overhead timing of processor cycles.
+  //  See the "ArdumotoDefaults.h" or the "AdafruitMSDefaults.h" files in the library "src" folder to view or change the default values.
+  MyBot.setPID(0.1, 0.00, 2); // default at 9v is 0.15, .002, 411.1v is 0.15, 0.002, 4
+  MyBot.setPIDcoarse(0.3, 0.001, 4.4); // default at 9v is  0.2, 0.001, 3.4
+  MyBot.setPIDfineRange(0.6); // default at 9v is 0.04
+#endif
+
+#if (BATTERY_VOLTS > 9)
+  // PID tunes here should be uncommented if the default values are to be improved for course specific.
+  //  See the "ArdumotoDefaults.h" or the "AdafruitMSDefaults.h" files in the library "src" folder to view or change the default values.
+  MyBot.setPID(0.1, 0.00, 2); // default at 11.1v is 0.15, 0.002, 4
+  MyBot.setPIDcoarse(0.2, 0.001, 4.4); // default at 11.1v is  0.2, 0.001, 4.4
+  MyBot.setPIDfineRange(0.6); // default at 11.1v is 0.05
+#endif
+
+  MyBot.setBatteryVolts(BATTERY_VOLTS);
+
+  MyBot.beginGobbit();  // initializes robot with settings
+
+  MyBot.calibrateLineSensor(CALIBRATE_SPEED);  // calibrate the sensor
+
+  irrecv.enableIRIn(); // Start the IR receiver
+
+#ifdef ANALOG_DIVIDER_PIN
+  MyBot.checkBattery(ANALOG_DIVIDER_PIN, CUTOFF, SMALL_RES_KOHMS, LARGE_RES_KOHMS);
+#endif
+
+}
+
+void loop() {
+
+#ifdef ANALOG_DIVIDER_PIN
+  // check battery status, if enabled, and halt the program if the voltage is too low
+  MyBot.checkBattery(ANALOG_DIVIDER_PIN, CUTOFF, SMALL_RES_KOHMS, LARGE_RES_KOHMS);
+#endif
+
+  if (irrecv.decode(&results)) { // this line triggers the beginning of the fun. if no signal is received, nothing will start.
+
+     switch (results.value){
+
+      case STOP: // stop ir command
+        //if (go == -1) MyBot.setMinMaxSpeeds(-100, 100);  // reset if initial approach was set slower
+        go = 0;
+        break;
+
+      case ALL_STOP: // All stop ir command.  Different from stop because all lanes should stop.
+        go = 0;
+        break;
+
+      case GO_RACE:  // go race ir command
+        go = 1;
+        break;
+
+      case BACKUP: // stop ir command
+        go = 2;
+        break;
+
+      case BUMP_IN: // stop ir command
+        go = 3;
+        break;
+     }
+
+    irrecv.resume(); // Receive the next value
+  }
+
+  switch (go) {
+
+    case -1:  // initial approach to start line after calibration.  Change this area if manual start will be used.
+      // MyBot.setMinMaxSpeeds(-70, 70);
+      MyBot.followLine(FOLLOWLINE_MODE);
+      moving=1;
+      break;
+
+    case 0:  // stop with quick motor reversal for reduced overrun
+      if(moving){
+        MyBot.brakeMotors(200,'B');
+        moving=0;
+      }
+      break;
+
+    case 1:  // race begins
+      MyBot.followLine(FOLLOWLINE_MODE);
+      moving=1;
+      break; 
+
+    case 2:  // backup until told to stop
+      MyBot.move(-42,0);
+      break;
+
+    case 3:  // bump in with delay until told to stop
+      MyBot.brakeMotors(35,'F'); // much less than 100% of brake time needed.  35% seems good for higher voltage setups.
+      delay(350);  // give the scoreboard time to react and send a stop message
+      break;
+  }
+
+}